update

api/api.hpp

@@ -21,4 +21,8 @@
 //
 #include "protocol_constant.hpp"
 //
-#include "reg_index.hpp"
+#include "reg_index.hpp"
+//
+#include "zi_code_scaner.hpp"
+//
+#include "zi_pipette_ctrl_module.hpp"

api/reg_index.hpp

@@ -17,7 +17,7 @@ typedef enum {
   kreg_module_enableflag           = REG_INDEX(0, 5),    // 0idle,1busy,2error
   kreg_module_errorbitflag0        = REG_INDEX(0, 6),    // 模块异常标志，bit，每个模块自定义
   kreg_module_errorbitflag1        = REG_INDEX(0, 7),    //
-  kreg_module_input_state          = REG_INDEX(0, 8),    // 
+  kreg_module_input_state          = REG_INDEX(0, 8),    //
   kreg_module_output_state         = REG_INDEX(0, 9),    //
   kreg_module_last_cmd_exec_status = REG_INDEX(20, 0),   // 上一条指令执行的状态
   kreg_module_last_cmd_exec_val0   = REG_INDEX(20, 1),   // 上一条指令执行的结果0
@@ -186,6 +186,14 @@ typedef enum {
   kreg_pwm_pump3_speed_level = REG_INDEX(4040, 3),  // PWM水泵0,1,2,3
   kreg_pwm_pump4_speed_level = REG_INDEX(4040, 4),  // PWM水泵0,1,2,3
 
+  /*******************************************************************************
+   *                                移液枪状态                                    *
+   *******************************************************************************/
+  kreg_pipette_pos_ul           = REG_INDEX(4100, 0),  // 移液枪位置
+  kreg_pipette_capactitance_val = REG_INDEX(4100, 1),  // 移液枪电容值
+  kreg_pipette_tip_state        = REG_INDEX(4100, 2),  // 移动液枪tip状态
+  kreg_pipette_limit_ul         = REG_INDEX(4100, 3),  // 移液枪ul限制
+
 } reg_index_t;
 
 }  // namespace iflytop

api/zi_code_scaner.hpp

@@ -0,0 +1,16 @@
+#pragma once
+#include <stdint.h>
+
+#include <functional>
+
+#include "errorcode.hpp"
+
+namespace iflytop {
+using namespace std;
+class ZICodeScaner {
+ public:
+  virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
+};
+}  // namespace iflytop

api/zi_module.hpp

@@ -7,6 +7,23 @@
 
 namespace iflytop {
 using namespace std;
+
+class ModuleCMDExecStatus {
+ public:
+  int32_t exec_status = 0;
+  int32_t exec_val[6] = {0};
+
+  void set_exec_status(int32_t status, int32_t val0 = 0, int32_t val1 = 0, int32_t val2 = 0, int32_t val3 = 0, int32_t val4 = 0, int32_t val5 = 0) {
+    exec_status = status;
+    exec_val[0] = val0;
+    exec_val[1] = val1;
+    exec_val[2] = val2;
+    exec_val[3] = val3;
+    exec_val[4] = val4;
+    exec_val[5] = val5;
+  }
+};
+
 class ZIModule {
   int32_t m_inited_flag = 0;
 

api/zi_pipette_ctrl_module.hpp

@@ -0,0 +1,16 @@
+#pragma once
+#include <stdint.h>
+
+#include <functional>
+
+#include "errorcode.hpp"
+
+namespace iflytop {
+using namespace std;
+class ZIPipetteCtrlModule {
+ public:
+  virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
+};
+}  // namespace iflytop

cmdid.hpp

@@ -15,8 +15,8 @@ typedef enum {
   kmodule_break                = CMDID(1, 2),   // para:{}, ack:{}
   kmodule_get_last_exec_status = CMDID(1, 3),   // para:{}, ack:{4}
   kmodule_get_status           = CMDID(1, 4),   // para:{}, ack:{4}
-  kmodule_set_reg            = CMDID(1, 5),   // para:{4,4}, ack:{}
-  kmodule_get_reg            = CMDID(1, 6),   // para:{4}, ack:{4}I
+  kmodule_set_reg              = CMDID(1, 5),   // para:{4,4}, ack:{}
+  kmodule_get_reg              = CMDID(1, 6),   // para:{4}, ack:{4}I
   kmodule_readio               = CMDID(1, 7),   // para:{}, ack:{4}
   kmodule_writeio              = CMDID(1, 8),   // para:{4}, ack:{}
   kmodule_read_adc             = CMDID(1, 9),   // para:{4}, ack:{4}
@@ -90,8 +90,25 @@ typedef enum {
   kxymotor_calculated_pos_by_move_to_zero    = CMDID(3, 7),  // para:{}, ack:{}
 
 #if 0
+  virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
 #endif
 
+  kcode_scaner_start_scan         = CMDID(4, 1),  // para:{}, ack:{}
+  kcode_scaner_stop_scan          = CMDID(4, 2),  // para:{}, ack:{}
+  kcode_scaner_read_scaner_result = CMDID(4, 3),  // para:{4,4}, ack:{4}
+
+#if 0
+  virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
+#endif
+
+  kpipette_ctrl_init_device = CMDID(5, 1),  // para:{}, ack:{}
+  kpipette_ctrl_put_tip     = CMDID(5, 2),  // para:{}, ack:{}
+  kpipette_ctrl_move_to_ul  = CMDID(5, 3),  // para:{4}, ack:{}
+
 } cmdid_t;
 
 }  // namespace zcr

protocol_parser.cpp

@@ -202,7 +202,6 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
 
   virtual int32_t motor_calculated_pos_by_move_to_zero() { return err::koperation_not_support; }
 
-
 #endif
   PROCESS_PACKET_10(kmotor_enable, ZIMotor, motor_enable);
   PROCESS_PACKET_30(kmotor_rotate, ZIMotor, motor_rotate);
@@ -242,4 +241,24 @@ void ZIProtocolParser::onRceivePacket(zcr_cmd_header_t* rxcmd, uint8_t* data, in
   PROCESS_PACKET_00(kxymotor_move_to_zero_and_calculated_shift, ZIXYMotor, xymotor_move_to_zero_and_calculated_shift);
   PROCESS_PACKET_02(kxymotor_read_pos, ZIXYMotor, xymotor_read_pos);
   PROCESS_PACKET_00(kxymotor_calculated_pos_by_move_to_zero, ZIXYMotor, xymotor_calculated_pos_by_move_to_zero);
+
+#if 0
+  virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
+#endif
+
+  PROCESS_PACKET_00(kcode_scaner_start_scan, ZICodeScaner, code_scaner_start_scan);
+  PROCESS_PACKET_00(kcode_scaner_stop_scan, ZICodeScaner, code_scaner_stop_scan);
+  PROCESS_BUF_REQUEST_1(kcode_scaner_read_scaner_result, ZICodeScaner, code_scaner_read_scaner_result);
+
+#if 0
+  virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
+#endif
+  PROCESS_PACKET_00(kpipette_ctrl_init_device, ZIPipetteCtrlModule, pipette_ctrl_init_device);
+  PROCESS_PACKET_00(kpipette_ctrl_put_tip, ZIPipetteCtrlModule, pipette_ctrl_put_tip);
+  PROCESS_PACKET_10(kpipette_ctrl_move_to_ul, ZIPipetteCtrlModule, pipette_ctrl_move_to_ul);
+  
 }

protocol_proxy.cpp

@@ -176,3 +176,28 @@ int32_t ZIProtocolProxy::xymotor_move_to_zero() { PROXY_IMPL_00(kxymotor_move_to
 int32_t ZIProtocolProxy::xymotor_move_to_zero_and_calculated_shift() { PROXY_IMPL_00(kxymotor_move_to_zero_and_calculated_shift, 30); }
 int32_t ZIProtocolProxy::xymotor_read_pos(int32_t *ack0, int32_t *ack1) { PROXY_IMPL_02(kxymotor_read_pos, 30); }
 int32_t ZIProtocolProxy::xymotor_calculated_pos_by_move_to_zero() { PROXY_IMPL_00(kxymotor_calculated_pos_by_move_to_zero, 30); }
+
+#if 0
+  virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
+#endif
+
+int32_t ZIProtocolProxy::code_scaner_start_scan() { PROXY_IMPL_00(kcode_scaner_start_scan, 30); }
+int32_t ZIProtocolProxy::code_scaner_stop_scan() { PROXY_IMPL_00(kcode_scaner_stop_scan, 30); }
+int32_t ZIProtocolProxy::code_scaner_read_scaner_result(int32_t para0, uint8_t *data, int32_t *len) {
+  int32_t param[1 + 1] = {0};
+  param[0]             = para0;
+  int32_t ecode        = m_cancmder->sendCmdAndReceiveBuf(kmodule_read_raw, m_id, param, 1, data, len, 100);
+  return ecode;
+}
+
+#if 0
+  virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
+#endif
+
+int32_t ZIProtocolProxy::pipette_ctrl_init_device() { PROXY_IMPL_00(kpipette_ctrl_init_device, 30); };
+int32_t ZIProtocolProxy::pipette_ctrl_put_tip() { PROXY_IMPL_00(kpipette_ctrl_put_tip, 30); };
+int32_t ZIProtocolProxy::pipette_ctrl_move_to_ul(int32_t para0) { PROXY_IMPL_10(kpipette_ctrl_move_to_ul, 30); };

protocol_proxy.hpp

@@ -8,7 +8,9 @@
 namespace iflytop {
 class ZIProtocolProxy : public ZIMotor,    //
                         public ZIXYMotor,  //
-                        public ZIModule {
+                        public ZIModule,
+                        public ZICodeScaner ,
+                        public ZIPipetteCtrlModule{
  private:
   IZcanCmderMaster *m_cancmder;
   int32_t           m_id = 0;
@@ -126,6 +128,30 @@ class ZIProtocolProxy : public ZIMotor,    //
   virtual int32_t xymotor_move_to_zero_and_calculated_shift() override;
   virtual int32_t xymotor_read_pos(int32_t *x, int32_t *y) override;
   virtual int32_t xymotor_calculated_pos_by_move_to_zero() override;
+
+  /*******************************************************************************
+   *                                ZICodeScaner                                 *
+   *******************************************************************************/
+#if 0
+  virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
+#endif
+
+  virtual int32_t code_scaner_start_scan() override;
+  virtual int32_t code_scaner_stop_scan() override;
+  virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) override;
+
+#if 0
+  virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
+#endif
+
+  virtual int32_t pipette_ctrl_init_device() override;
+  virtual int32_t pipette_ctrl_put_tip() override;
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) override;
+
 };
 
 }  // namespace iflytop

zmodule_device_manager.cpp

@@ -109,3 +109,22 @@ int32_t ZModuleDeviceManager::xymotor_move_to_zero(uint16_t id) { PROXY_IMPL(ZIX
 int32_t ZModuleDeviceManager::xymotor_move_to_zero_and_calculated_shift(uint16_t id) { PROXY_IMPL(ZIXYMotor, xymotor_move_to_zero_and_calculated_shift); }
 int32_t ZModuleDeviceManager::xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y) { PROXY_IMPL(ZIXYMotor, xymotor_read_pos, x, y); }
 int32_t ZModuleDeviceManager::xymotor_calculated_pos_by_move_to_zero(uint16_t id) { PROXY_IMPL(ZIXYMotor, xymotor_calculated_pos_by_move_to_zero); }
+
+#if 0
+  virtual int32_t code_scaner_start_scan(uint16_t id);
+  virtual int32_t code_scaner_stop_scan(uint16_t id);
+  virtual int32_t code_scaner_read_scaner_result(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len);
+#endif
+int32_t ZModuleDeviceManager::code_scaner_start_scan(uint16_t id) { PROXY_IMPL(ZICodeScaner, code_scaner_start_scan); }
+int32_t ZModuleDeviceManager::code_scaner_stop_scan(uint16_t id) { PROXY_IMPL(ZICodeScaner, code_scaner_stop_scan); }
+int32_t ZModuleDeviceManager::code_scaner_read_scaner_result(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len) { PROXY_IMPL(ZICodeScaner, code_scaner_read_scaner_result, startadd, data, len); }
+
+#if 0
+  virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
+#endif
+
+int32_t ZModuleDeviceManager::pipette_ctrl_init_device(uint16_t id) { PROXY_IMPL(ZIPipetteCtrlModule, pipette_ctrl_init_device); }
+int32_t ZModuleDeviceManager::pipette_ctrl_put_tip(uint16_t id) { PROXY_IMPL(ZIPipetteCtrlModule, pipette_ctrl_put_tip); }
+int32_t ZModuleDeviceManager::pipette_ctrl_move_to_ul(uint16_t id, int32_t ul) { PROXY_IMPL(ZIPipetteCtrlModule, pipette_ctrl_move_to_ul, ul); }

zmodule_device_manager.hpp

@@ -80,7 +80,6 @@ class ZModuleDeviceManager {
   virtual int32_t module_flush_cfg(uint16_t id);
   virtual int32_t module_active_cfg(uint16_t id);
 
-
   virtual int32_t module_read_raw(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len);
   virtual int32_t module_enable(uint16_t id, int32_t enable);
 
@@ -151,6 +150,26 @@ class ZModuleDeviceManager {
   virtual int32_t xymotor_read_pos(uint16_t id, int32_t *x, int32_t *y);
   virtual int32_t xymotor_calculated_pos_by_move_to_zero(uint16_t id);
 
+#if 0
+  virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
+#endif
+
+  virtual int32_t code_scaner_start_scan(uint16_t id);
+  virtual int32_t code_scaner_stop_scan(uint16_t id);
+  virtual int32_t code_scaner_read_scaner_result(uint16_t id, int32_t startadd, uint8_t *data, int32_t *len);
+
+#if 0
+  virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
+#endif
+
+  virtual int32_t pipette_ctrl_init_device(uint16_t id);
+  virtual int32_t pipette_ctrl_put_tip(uint16_t id);
+  virtual int32_t pipette_ctrl_move_to_ul(uint16_t id, int32_t ul);
+
   virtual ~ZModuleDeviceManager() {}
 
  private:

zmodule_device_script_cmder_paser.cpp

@@ -188,4 +188,31 @@ void ZModuleDeviceScriptCmderPaser::initialize(ICmdParser* cancmder, ZModuleDevi
   PROCESS_PACKET_10(xymotor_move_to_zero_and_calculated_shift, "(mid)");
   PROCESS_PACKET_12(xymotor_read_pos, "(mid)");
   PROCESS_PACKET_10(xymotor_calculated_pos_by_move_to_zero, "(mid)");
+
+#if 0
+  virtual int32_t code_scaner_start_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_stop_scan() { return err::koperation_not_support; }
+  virtual int32_t code_scaner_read_scaner_result(int32_t startadd, uint8_t *data, int32_t *len) { return err::koperation_not_support; }
+#endif
+
+  PROCESS_PACKET_10(code_scaner_start_scan, "(mid)");
+  PROCESS_PACKET_10(code_scaner_stop_scan, "(mid)");
+  cancmder->regCMD("code_scaner_read_scaner_result", "(mid, pad0)", 2, [this](int32_t paramN, const char* paraV[], ICmdParserACK* ack) {
+    if (atoi(paraV[2]) > (int32_t)sizeof(ack->rawdata)) {
+      ack->ecode = err::kbuffer_not_enough;
+      return;
+    }
+    ack->rawlen  = sizeof(ack->rawdata);
+    ack->ecode   = m_deviceManager->module_read_raw(atoi(paraV[0]), atoi(paraV[1]), ack->rawdata, &ack->rawlen);
+    ack->acktype = ICmdParserACK::kAckType_buf;
+  });
+
+#if 0
+  virtual int32_t pipette_ctrl_init_device() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_put_tip() { return err::koperation_not_support; };
+  virtual int32_t pipette_ctrl_move_to_ul(int32_t ul) { return err::koperation_not_support; };
+#endif
+  PROCESS_PACKET_10(pipette_ctrl_init_device, "(mid)");
+  PROCESS_PACKET_10(pipette_ctrl_put_tip, "(mid)");
+  PROCESS_PACKET_20(pipette_ctrl_move_to_ul, "(mid, ul)");
 }